Research On Positioning And Obstacle Avoidance Technology Of Ground Robot

In today's era of rapid development of artificial intelligence,robots have been widely used in people's production and life,and become one of the important tools for humans to improve productivity and quality of life.The ground robot is an important research object in the field of robots.The ground robot works on the ground,that is,the robot working in a two-dimensional environment.It can help people complete heavy and boring tasks,and reach the place that people can't reach.Therefore,how to make the ground robots more efficiently complete the work of human beings has become a research hotspot.This paper studies the positioning technology and obstacle avoidance technology of ground robots.This paper designs a positioning system based on ultrasonic positioning.The positioning system can reduce the positioning error caused by the multipath effect and expand the positioning range.The system is divided into a receiving device and a transmitting device.It combines the principle of coordinate transformation on the basis of the geometric algorithm.By controlling the rotation of the steering engines,the receiving device can be aligned with the transmitting device in real time to realize automatic following positioning.In order to achieve a wider range of indoor positioning,a method of splicing the positioning area is proposed,which combines ultrasonic positioning and handoff technology to provide a reference for large range positioning.In order to reduce the length of the path and the number of turns of the ground robot,the A-star algorithm has been improved.The path planned by the traditional A-star algorithm is further optimized by geometric methods.Firstly,Based on the initial path planned by A-star algorithm,traversing all the nodes on the initial path,removing redundant inflection points and redundant nodes and obtainning the path that contains the starting node,the end node,and the key inflection points.Then the rotation direction and rotation angle of ground robot at the inflection point are calculated to adjust the posture of the AGV.Comparative experiments on A-star algorithm,ant colony algorithm and improved A-star algorithm were carried out respectively.And the experimental results demonstrate that the method not only has a fast calculation speed but also can provide a short and smooth panth.